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International Journal of Modern Education and Computer Science (IJMECS)

ISSN: 2075-0161 (Print), ISSN: 2075-017X (Online)

Published By: MECS Press

IJMECS Vol.5, No.10, Nov. 2013

Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator

Full Text (PDF, 506KB), PP.53-63


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Author(s)

Mahdi Mirshekaran,Farzin Piltan,Zahra Esmaeili,Tannaz Khajeaian,Meysam Kazeminasab

Index Terms

Modified PID Controller, Flexible manipulator, sliding mode controller, vibration of end effector, fuzzy logic theory

Abstract

This paper studies the use of Modified Proportional-Integral-Derivative Sliding Mode Controller (MPIDSMC) control used to control a flexible manipulator. The control gain in the MPIDSMC controller has been determined in an empirical way so far. It is a considerable time-consuming process because the control performance depends not only on the control gain but also on the other parameters such as the payload, references and PID joint servo gains. Hence, the control gain must be tuned considering the other parameters. In order to find the optimal control gain for the MPIDSMC controller, a fuzzy logic approach is proposed in this paper. The proposed fuzzy logic scheme finds an optimum control gain that minimizes the tip vibration for the end effector of the flexible manipulator. Tuned gain response results are compared to results for other types of gains. The effectiveness of using the fuzzy logic appears in the reduction of the computational time and the ability to tune the gain with different loading condition and input parameters.

Cite This Paper

Mahdi Mirshekaran,Farzin Piltan,Zahra Esmaeili,Tannaz Khajeaian,Meysam Kazeminasab,"Design Sliding Mode Modified Fuzzy Linear Controller with Application to Flexible Robot Manipulator", IJMECS, vol.5, no.10, pp.53-63, 2013.DOI: 10.5815/ijmecs.2013.10.07

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[12]Farzin Piltan, A. R. Salehi & Nasri B Sulaiman,“Design Artificial Robust Control of Second Order System Based on Adaptive Fuzzy Gain Scheduling”, World Applied Science Journal (WASJ), 13 (5): 1085-1092, 2011.

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[14]Farzin Piltan , N. Sulaiman, Zahra Tajpaykar, Payman Ferdosali & Mehdi Rashidi, “Design Artificial Nonlinear Robust Controller Based on CTLC and FSMC with Tunable Gain”, International Journal of Robotic and Automation, 2 (3): 205-220, 2011.

[15]Farzin Piltan, Mohammad Mansoorzadeh, Saeed Zare, Fatemeh Shahriarzadeh, Mehdi Akbari, “Artificial tune of fuel ratio: Design a novel siso fuzzy backstepping adaptive variable structure control”, International Journal of Electrical and Computer Engineering (IJECE), 3 (2): 183-204, 2013.

[16]Farzin Piltan, M. Bazregar, M. Kamgari, M. Akbari, M. Piran, “Adjust the fuel ratio by high impact chattering free sliding methodology with application to automotive engine”, International Journal of Hybrid Information Technology (IJHIT), 6 (1): 13-24, 2013.

[17]Shahnaz Tayebi Haghighi, S. Soltani, Farzin Piltan, M. Kamgari, S. Zare, “Evaluation Performance of IC Engine: linear tunable gain computed torque controller Vs. Sliding mode controller”, I. J. Intelligent system and application, 6 (6): 78-88, 2013.

[18]Farzin Piltan, N. Sulaiman, Payman Ferdosali & Iraj Assadi Talooki, “Design Model Free Fuzzy Sliding Mode Control: Applied to Internal Combustion Engine”, International Journal of Engineering, 5 (4):302-312, 2011.

[19]Farzin Piltan, N. Sulaiman, A. Jalali & F. Danesh Narouei, “Design of Model Free Adaptive Fuzzy Computed Torque Controller: Applied to Nonlinear Second Order System”, International Journal of Robotics and Automation, 2 (4):245-257, 2011

[20]A. Jalali, Farzin Piltan, M. Keshtgar, M. Jalali, “Colonial Competitive Optimization Sliding Mode Controller with Application to Robot Manipulator”, International Journal of Intelligent Systems and Applications, 5(7), 2013.

[21]Farzin Piltan, Amin Jalali, N. Sulaiman, Atefeh Gavahian & Sobhan Siamak, “Novel Artificial Control of Nonlinear Uncertain System: Design a Novel Modified PSO SISO Lyapunov Based Fuzzy Sliding Mode Algorithm”, International Journal of Robotics and Automation, 2 (5): 298-316, 2011.

[22]Farzin Piltan, N. Sulaiman, Iraj Asadi Talooki & Payman Ferdosali, “Control of IC Engine: Design a Novel MIMO Fuzzy Backstepping Adaptive Based Fuzzy Estimator Variable Structure Control”, International Journal of Robotics and Automation, 2 (5):360-380, 2011.

[23]Farzin Piltan, N. Sulaiman, S.Soltani, M. H. Marhaban & R. Ramli, “An Adaptive Sliding Surface Slope Adjustment in PD Sliding Mode Fuzzy Control For Robot Manipulator”, International Journal of Control and Automation, 4 (3): 65-76, 2011. 

[24]Farzin Piltan, N. Sulaiman, Mehdi Rashidi, Zahra Tajpaikar & Payman Ferdosali, “Design and Implementation of Sliding Mode Algorithm: Applied to Robot Manipulator-A Review”, International Journal of Robotics and Automation, 2 (5):265-282, 2011.

[25]Farzin Piltan, N. Sulaiman , Arash Zargari, Mohammad Keshavarz & Ali Badri, “Design PID-Like Fuzzy Controller with Minimum Rule Base and Mathematical Proposed On-line Tunable Gain: Applied to Robot Manipulator”, International Journal of Artificial Intelligence and Expert System, 2 (4):184-195, 2011.

[26]Farzin Piltan, SH. Tayebi HAGHIGHI, N. Sulaiman, Iman Nazari & Sobhan Siamak, “Artificial Control of PUMA Robot Manipulator: A-Review of Fuzzy Inference Engine and Application to Classical Controller”, International Journal of Robotics and Automation, 2 (5):401-425, 2011.

[27]A. Salehi, Farzin Piltan, M. Mousavi, A. Khajeh, M. R. Rashidian, “Intelligent Robust Feed-forward Fuzzy Feedback Linearization Estimation of PID Control with Application to Continuum Robot”, International Journal of Information Engineering and Electronic Business, 5(1), 2013.

[28]Farzin Piltan, N. Sulaiman & I.AsadiTalooki, “Evolutionary Design on-line Sliding Fuzzy Gain Scheduling Sliding Mode Algorithm: Applied to Internal Combustion Engine”, International Journal of Engineering Science and Technology, 3 (10):7301-7308, 2011.

[29]Farzin Piltan, Nasri B Sulaiman, Iraj Asadi Talooki & Payman Ferdosali, ”Designing On-Line Tunable Gain Fuzzy Sliding Mode Controller Using Sliding Mode Fuzzy Algorithm: Applied to Internal Combustion Engine” World Applied Science Journal (WASJ), 15 (3): 422-428, 2011.

[30]Farzin Piltan, M.J. Rafaati, F. Khazaeni, A. Hosainpour, S. Soltani, “A Design High Impact Lyapunov Fuzzy PD-Plus-Gravity Controller with Application to Rigid Manipulator”, International Journal of Information Engineering and Electronic Business, 5(1), 2013.

[31]A. Jalali, Farzin Piltan, A. Gavahian, M. Jalali, M. Adibi, “Model-Free Adaptive Fuzzy Sliding Mode Controller Optimized by Particle Swarm for Robot manipulator”, International Journal of Information Engineering and Electronic Business, 5(1), 2013.

[32]Farzin Piltan, N. Sulaiman, Payman Ferdosali, Mehdi Rashidi & Zahra Tajpeikar, “Adaptive MIMO Fuzzy Compensate Fuzzy Sliding Mode Algorithm: Applied to Second Order Nonlinear System”, International Journal of Engineering, 5 (5): 380-398, 2011. 

[33]Farzin Piltan, N. Sulaiman, Hajar Nasiri, Sadeq Allahdadi & Mohammad A. Bairami, “Novel Robot Manipulator Adaptive Artificial Control: Design a Novel SISO Adaptive Fuzzy Sliding Algorithm Inverse Dynamic Like Method”, International Journal of Engineering, 5 (5): 399-418, 2011.

[34]Farzin Piltan, N. Sulaiman, Sadeq Allahdadi, Mohammadali Dialame & Abbas Zare, “Position Control of Robot Manipulator: Design a Novel SISO Adaptive Sliding Mode Fuzzy PD Fuzzy Sliding Mode Control”, International Journal of Artificial Intelligence and Expert System, 2 (5):208-228, 2011.

[35]M. M. Ebrahimit Farzin Piltan, M. Bazregar and A.R. Nabaee “Intelligent Robust Fuzzy-Parallel Optimization Control of a Continuum Robot Manipulator”, International Journal of Control and Automation, 6(3), 2013.

[36]Farzin Piltan, M.A. Bairami, F. Aghayari, M.R. Rashidian, “Stable Fuzzy PD Control with Parallel Sliding Mode Compensation with Application to Rigid Manipulator”, International Journal of Information Technology and Computer Science, 5(7), 2013.

[37]Farzin Piltan, N. Sulaiman, Samaneh Roosta, Atefeh Gavahian & Samira Soltani, “Evolutionary Design of Backstepping Artificial Sliding Mode Based Position Algorithm: Applied to Robot Manipulator”, International Journal of Engineering, 5 (5):419-434, 2011.

[38]Farzin Piltan, N. Sulaiman, Amin Jalali, Sobhan Siamak & Iman Nazari, “Control of Robot Manipulator: Design a Novel Tuning MIMO Fuzzy Backstepping Adaptive Based Fuzzy Estimator Variable Structure Control”, International Journal of Control and Automation, 4 (4):91-110, 2011.

[39]Farzin Piltan, N. Sulaiman, Atefeh Gavahian, Samaneh Roosta & Samira Soltani, “On line Tuning Premise and Consequence FIS: Design Fuzzy Adaptive Fuzzy Sliding Mode Controller Based on Lyaponuv Theory”, International Journal of Robotics and Automation, 2 (5):381-400, 2011.

[40]Farzin Piltan, N. Sulaiman, Samira Soltani, Samaneh Roosta & Atefeh Gavahian, “Artificial Chattering Free on-line Fuzzy Sliding Mode Algorithm for Uncertain System: Applied in Robot Manipulator”, International Journal of Engineering, 5 (5):360-379, 2011.

[41]Farzin Piltan, F. ShahryarZadeh, M. Mansoorzadeh, M. kamgari, S. Zare, “Robust Fuzzy PD Method with Parallel Computed Fuel Ratio Estimation Applied to Automotive Engine “International Journal of Intelligent Systems and Applications, 5(8), 2013.

[42]Farzin Piltan, Sadeq Allahdadi, Mohammad A.Bairami & Hajar Nasiri, “Design Auto Adjust Sliding Surface Slope: Applied to Robot Manipulator”, International Journal of Robotics and Automation, 3 (1):27-44, 2011.

[43]Farzin Piltan, Mohammadali Dialame, Abbas Zare & Ali Badri, “Design Novel Lookup Table Changed Auto Tuning FSMC:Applied to Robot Manipulator”, International Journal of Engineering, 6 (1):25-41, 2012.

[44]Farzin Piltan, M. Keshavarz, A. Badri & A. Zargari, “Design Novel Nonlinear Controller Applied to RobotManipulator: Design New Feedback Linearization Fuzzy Controller with Minimum Rule Base Tuning Method”, International Journal of Robotics and Automation, 3 (1):1-12, 2012.

[45]Farzin Piltan, Mohammad A.Bairami, Farid Aghayari & Sadeq Allahdadi, “Design Adaptive Artificial Inverse Dynamic Controller: Design Sliding Mode Fuzzy Adaptive New Inverse Dynamic Fuzzy Controller”, International Journal of Robotics and Automation, (1):13-26, 2012.

[46]Farzin Piltan, Sadeq Allahdadi, Mohammad A.Bairami & Hajar Nasiri, “Design Auto Adjust Sliding Surface Slope: Applied to Robot Manipulator”, International Journal of Robotics and Automation, 3 (1):27-44, 2012.

[47]Farzin Piltan, F. Aghayari, M. Rashidian & M. Shamsodini, “A New Estimate Sliding Mode Fuzzy Controller for RoboticManipulator”, International Journal of Robotics and Automation, 3 (1):45-60, 2012

[48]Farzin Piltan, Iman Nazari, Sobhan Siamak, Payman Ferdosali, “Methodology of FPGA-Based Mathematical error-Based Tuning Sliding Mode Controller”, International Journal of Control and Automation, 5(1), 89-118, 2012.

[49]Farzin Piltan, Bamdad Boroomand, Arman Jahed & Hossein Rezaie, “Methodology of Mathematical Error-Based Tuning Sliding Mode Controller”, International Journal of Engineering, 6 (2):96-117, 2012.

[50]Farzin Piltan, S. Emamzadeh, Z. Hivand, F. Shahriyari & Mina Mirazaei. ” PUMA-560 Robot Manipulator Position Sliding Mode Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate/Undergraduate Nonlinear Control, Robotics and MATLAB Courses”, International Journal of Robotics and Automation, 3(3):106-150, 2012.

[51]Farzin Piltan, A. Hosainpour, E. Mazlomian, M.Shamsodini, M.H Yarmahmoudi. ”Online Tuning Chattering Free Sliding Mode Fuzzy Control Design: Lyapunov Approach”, International Journal of Robotics and Automation, 3(3):77-105, 2012.

[52]Farzin Piltan, R. Bayat, F. Aghayari, B. Boroomand. “Design Error-Based Linear Model-Free Evaluation Performance Computed Torque Controller”, International Journal of Robotics and Automation, 3(3):151-166, 2012.

[53]Farzin Piltan, J. Meigolinedjad, S. Mehrara, S. Rahmdel. ”Evaluation Performance of 2nd Order Nonlinear System: Baseline Control Tunable Gain Sliding Mode Methodology”, International Journal of Robotics and Automation, 3(3): 192-211, 2012.

[54] Farzin Piltan, Mina Mirzaei, Forouzan Shahriari, Iman Nazari, Sara Emamzadeh, “Design Baseline Computed Torque Controller”, International Journal of Engineering, 6(3): 129-141, 2012.

[55]Farzin Piltan, Sajad Rahmdel, Saleh Mehrara, Reza Bayat , “Sliding Mode Methodology Vs. Computed Torque Methodology Using MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control Courses” , International Journal of Engineering, 6(3): 142-177, 2012.

[56]Farzin Piltan , M.H. Yarmahmoudi, M. Shamsodini, E.Mazlomian, A.Hosainpour. ”PUMA-560 Robot Manipulator Position Computed Torque Control Methods Using MATLAB/SIMULINK and Their Integration into Graduate Nonlinear Control and MATLAB Courses”, International Journal of Robotics and Automation, 3(3): 167-191, 2012.

[57]Farzin Piltan, Hossein Rezaie, Bamdad Boroomand, Arman Jahed. “Design Robust Backstepping on-line Tuning Feedback Linearization Control Applied to IC Engine”, International Journal of Advance Science and Technology, 11:40-22, 2012. 

[58]Farzin Piltan, S. Siamak, M.A. Bairami and I. Nazari. ” Gradient Descent Optimal Chattering Free Sliding Mode Fuzzy Control Design: Lyapunov Approach”, International Journal of Advanced Science and Technology, 43: 73-90, 2012.

[59]Farzin Piltan, M.R. Rashidian, M. Shamsodini and S. Allahdadi. ” Effect of Rule Base on the Fuzzy-Based Tuning Fuzzy Sliding Mode Controller: Applied to 2nd Order Nonlinear System”, International Journal of Advanced Science and Technology, 46:39-70, 2012.

[60]Farzin Piltan, A. Jahed, H. Rezaie and B. Boroomand. ” Methodology of Robust Linear On-line High Speed Tuning for Stable Sliding Mode Controller: Applied to Nonlinear System”, International Journal of Control and Automation, 5(3): 217-236, 2012.

[61]Farzin Piltan, R. Bayat, S. Mehara and J. Meigolinedjad. ”GDO Artificial Intelligence-Based Switching PID Baseline Feedback Linearization Method: Controlled PUMA Workspace”, International Journal of Information Engineering and Electronic Business, 5: 17-26, 2012.

[62]Farzin Piltan, B. Boroomand, A. Jahed and H. Rezaie. ”Performance-Based Adaptive Gradient Descent Optimal Coefficient Fuzzy Sliding Mode Methodology”, International Journal of Intelligent Systems and Applications, 11: 40-52 2012.

[63]Farzin Piltan, S. Mehrara, R. Bayat and S. Rahmdel. ” Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology”, International Journal of Hybrid Information Technology, 5(4):41-54, 2012.

[64]AH Aryanfar, MR Khammar, Farzin Piltan, “Design a robust self-tuning fuzzy sliding mode control for second order systems”, International Journal of Engineering Science REsearch, 3(4): 711-717, 2012.

[65]Farzin Piltan, Shahnaz Tayebi Haghighi, “Design Gradient Descent Optimal Sliding Mode Control of Continuum Robots”, International Journal of Robotics and Automation, 1(4): 175-189, 2012.

[66]Farzin Piltan, A. Nabaee, M.M. Ebrahimi, M. Bazregar, “Design Robust Fuzzy Sliding Mode Control Technique for Robot Manipulator Systems with Modeling Uncertainties”, International Journal of Information Technology and Computer Science, 5(8), 2013.

[67]Farzin Piltan, M. Akbari, M. Piran , M. Bazregar. ”Design Model Free Switching Gain Scheduling Baseline Controller with Application to Automotive Engine”, International Journal of Information Technology and Computer Science, 01:65-73, 2013.

[68]Farzin Piltan, M. Piran , M. Bazregar, M. Akbari, “Design High Impact Fuzzy Baseline Variable Structure Methodology to Artificial Adjust Fuel Ratio”, International Journal of Intelligent Systems and Applications, 02: 59-70, 2013.

[69]Farzin Piltan, M. Mansoorzadeh, M. Akbari, S. Zare, F. ShahryarZadeh “Management of Environmental Pollution by Intelligent Control of Fuel in an Internal Combustion Engine“ Global Journal of Biodiversity Science And Management, 3(1), 2013.